Return To The Home Position - Mitsubishi R56TB Instruction Manual

9.16. Return to the Home position

Return the robot to the Home position that set beforehand. The robot is initiated a joint interpolation movement to
the position set by the parameter "JSAFE". The speed is determined by the override setting.
This function is available with Ver.2.3or later of this software.
CAUTION
Only when MELFA-BASIC V or MELFA-BASIC IV is set to the robot program language used, the
Home position return function can be used. The Home position return function cannot be used by
the MOVEMASTER command.
Please refer to "17.4.13 Home position" of the parameter for the setting of the safe position.
The Home position return is operated according to the following procedures.
(1) Set the MODE changeover switch to MANUAL.
(2) Push the [TEACH] switch (<a>) of T/B, and confirm that the [TEACH] switch and the [TB ENABLE] lamps light.
(3) Select the model of the operated robot.
When the multi-mechanism control is used, select the model of the operated robot by the combobox of the
model selection in the upper part of the screen. If the multi-mechanism control is not used, you don't have to
select the model.
(4) The [JOG] button (<b >) is pushed, and the JOG operation screen is displayed.
(5) In the condition that the enable switch is pushed, press the [SERVO] button (<c>) of T/B, and the servo of robot
is turned ON. Please confirm the [SERVO] lamp lights.
(6) In the condition that the enable switch is pushed, press the [HOME] button (<d>) of T/B.
When the enable switch or the [HOME] button is detached, the robot stops.
<a> <a>
<c>
<d>
31
<b>